MANIPULATION
驾驭VLA：通过记忆引导代理将冻结的VLA转向可靠的操作原语
Yixian Zhang, Huanming Zhang, Feng Gao, Xiao Li, Zhihao Liu, Chunyang Zhu, Jiaxing Qiu, Yuchen Yan, Jiyuan Liu, Wenhao Tang, Zhengru Fang, Yi Nie, Changxu Wei, Yu Wang, Wenbo Ding, Chao Yu
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出Harness VLA框架，通过记忆增强的代理机制将冻结的视觉-语言-动作模型作为可重试的接触式原语，并与少量分析原语组合，提升操作鲁棒性。该框架不扩展技能库，而是从执行轨迹中学习原语的工作范围，实现语义重定向和失败恢复。
关键词
VLAmemory-augmentedcontact-rich manipulationprimitive compositionfailure recovery
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